/* LICENSE:
  =========================================================================
    CMPack'04 Source Code Release for OPEN-R SDK 1.1.5-r2 for ERS7
    Copyright (C) 2004 Multirobot Lab [Project Head: Manuela Veloso]
    School of Computer Science, Carnegie Mellon University
    All rights reserved.
  ========================================================================= */

#ifndef INCLUDED_GLocalizationEncoder_h
#define INCLUDED_GLocalizationEncoder_h

#include "../headers/DogTypes.h"
#include "../headers/SPOutEncoder.h"
#include "../headers/gvector.h"
#include "../headers/field.h"

class RobotPositionInfo;

typedef GVector::vector2d<double> v2d;


/*------------------------------------------------------------------
CLASS
  SPOutLocalizationEncoder

DESCRIPTION
  Encodes SPOut output related to localization.
------------------------------------------------------------------*/

class SPOutLocalizationEncoder : public SPOutEncoder {
public:
  static int encodeLocalization(uchar *buf, RobotPositionInfo *posn_info);
};

#endif